WO2019141706A1 - Procédé et système de commande d'un robot - Google Patents

Procédé et système de commande d'un robot Download PDF

Info

Publication number
WO2019141706A1
WO2019141706A1 PCT/EP2019/051001 EP2019051001W WO2019141706A1 WO 2019141706 A1 WO2019141706 A1 WO 2019141706A1 EP 2019051001 W EP2019051001 W EP 2019051001W WO 2019141706 A1 WO2019141706 A1 WO 2019141706A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
force
normal
operating mode
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/051001
Other languages
German (de)
English (en)
Inventor
Shashank Sharma
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Priority to EP19700912.9A priority Critical patent/EP3740353A1/fr
Priority to CN201980020215.0A priority patent/CN111867788B/zh
Publication of WO2019141706A1 publication Critical patent/WO2019141706A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36457—During teaching, force set point is automatically adapted to circumstances
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39322—Force and position control

Definitions

  • the present invention relates to a method and system for controlling a robot in response to an external force impressed on the robot and to a computer program product for carrying out the method.
  • an admittance control for controlling robots is known.
  • a desired movement is determined by control engineering which would execute a virtual mass under this external force and which the robot tries to execute.
  • the end effector of the robot behaves like the virtual mass.
  • the object of the present invention is to improve the operation of a robot.
  • Claims 12, 13 protect a system or computer program product for carrying out a method described herein.
  • the robot in a method for controlling a robot in dependence on a, in particular current, external force impressed on the robot, the robot is in a first
  • the robot becomes in the first operating mode
  • Control in one embodiment may include, in particular, rules.
  • a force may also include a torque, in particular.
  • the robot has at least three, in particular at least six, in one embodiment at least seven, joints, in particular drivable or driven and / or rotary joints, in one embodiment, therefore,
  • the robot in particular electrical, drives for adjusting the joints.
  • the robot can be used advantageously, in particular flexibly and / or precisely.
  • the robotic reference in one embodiment is a distal end effector of the robot.
  • the external force is manually controlled by a
  • the robot in an embodiment on its robot-fixed reference, imprinted or exercised or is an external manually impressed by an operator force.
  • the external force is a force acting on the point of contact; it can be transformed or displaced there by a Jacobian matrix in a manner known per se (virtually).
  • the robot can advantageously be hand-guided in one embodiment, in an embodiment for teaching or presetting subsequently automatically traversable paths or the like.
  • surface normal An outward normal on a surface in a contact point (surface normal") in one embodiment is perpendicular to one
  • projection of the external force into the tangent plane (on) of the surface in the contact point is stronger than a projection of the external force towards the outward surface normal, or attempts to do so (correspondingly) controlled, in one embodiment, it follows the projection of the external force in the direction of the outward surface normal in the first mode of operation, at least substantially, not at all or tries this or is controlled accordingly.
  • the robot is in a second mode of operation
  • the robot Given that he tries to follow the force regardless of its direction, in particular follows. In other words, the robot will be in the second Operating mode controlled, (to) follow the external force direction-independent (easy).
  • the robot-fixed reference in the second operating mode intentionally moved away from the surface and / or advantageously moved freely in space.
  • the force is switched from the first to the second operating mode, in one embodiment, if an amount of the normal component exceeds a predetermined threshold.
  • an operator may simply terminate the first mode of operation, particularly to move the robot-fixed reference away from the surface by pulling sufficiently away from the surface.
  • an operator may operate a corresponding physical or software switch or the like.
  • the robot is controlled in the first operating mode in such a way or with the proviso that it tries to impose a particular force on the surface in the opposite direction to the surface normal with the robot-fixed reference, in particular imprints it.
  • the robot in the first mode of operation, the robot is controlled to impart a predetermined force to the surface in the opposite direction of the surface normal.
  • the robot-fixed reference can advantageously be fixed to the surface by control technology and / or imprint a desired process force, for example for processing the surface.
  • a desired process force for example for processing the surface.
  • an operator may simply initiate the first mode of operation by pulling the robot-fixed reference sufficiently close to the surface.
  • the external force is determined using a sensor on the robot-fixed reference.
  • the external force is determined in one embodiment by means of sensors on joints of the robot, in particular based on a dynamic model of the robot.
  • an additional sensor on the robot-fixed reference can be omitted.
  • the surface normal is determined as a function of a contour of the surface determined in a design using a scan, a vision system, or the like.
  • the surface normal in one embodiment is determined as a function of a contour of the surface predetermined in a design based on CAD data or the like.
  • a time and / or equipment expenditure for determining the contour can be omitted.
  • the contact point is determined in response to detection of an environment of the robot-fixed reference, in an embodiment using a scan, a vision system, or the like.
  • the contact point is in
  • a determined or predetermined contour of the robot-fixed reference and / or a determined or predetermined contour of the surface determined.
  • a time and / or equipment expense for detecting the environment can be omitted.
  • the robot is in the first and / or second
  • the normal component of the determined external force in the direction of the surface normal is computationally reduced, in particular faded out or filtered.
  • a system in particular hardware and / or software, in particular program technology, for implementing a method described herein and / or has means for controlling the robot in response to an external force applied to the robot in the first mode of operation in response to a surface such that the robot tries to follow a tangential component of the force normal to the outward normal on the surface at a contact point of a robot-fixed reference with the surface more closely than a normal component of the force towards that surface normal,
  • system or its agent has:
  • Means for controlling the robot in a second mode of operation such that it tries to follow the normal component of the force more strongly than in the first mode of operation, in particular so as to try to follow the external force regardless of its direction;
  • An agent in the context of the present invention may be hard and / or
  • CPU microprocessor unit
  • Programs are implemented to process input signals from one
  • a storage system may have one or more, in particular different,
  • Storage media in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the robot.
  • a computer program product may include, in particular, a non-volatile storage medium for storing a program or a program stored thereon, wherein execution of this program causes a system or a controller, in particular a computer, to do so method described here or one or more of its steps
  • one or more, in particular all, steps of the method are completely or partially automated, in particular by the system or its (e) means.
  • the system includes the robot and / or its controller.
  • Presetting of robot tracks in particular by means of manual guiding of the robot, in particular the robot-fixed reference, can be used. Accordingly, in one embodiment in the first operating mode - at least temporarily - a pose of the robot, in particular the robot-fixed reference, stored and subsequently given a robot path in a development on the basis of the stored poses.
  • FIG. 1 shows a system according to an embodiment of the present invention.
  • Fig. 2 a method for controlling a robot of the system according to an embodiment of the present invention.
  • FIG. 1 shows a system according to an embodiment of the present invention with a robot 10 having an end effector 11 and a robot controller 30.
  • the end effector 11 is manually guided by an operator 40 on a surface 21 of a workpiece 20, for example for teaching a processing path.
  • a first step S10 (see Fig. 2) of a method for controlling the robot 10 according to an embodiment of the present invention by means of a force-moment sensor 12 at the end effector 1 1 an externally imposed by the operator 40 external force F ex determined ,
  • the robot controller may also detect the external force using sensors 12 'on the joints of the robot.
  • the external force F ex in one embodiment can be obtained by transforming the difference of the axle moments s sr measured at the joints using the sensors and the axle moments md calculated on the basis of an optionally inverse dynamic model of the robot (transposed) Jacobian J T of the end effector or its peak are determined: c) md)
  • the contour of the surface 21 is known, for example from CAD data, or is determined by a camera 31.
  • the robot controller 30 checks whether (already or still) a first operating mode is selected, for example, by actuating a
  • a virtual damping can also be provided.
  • Robot controller 30 in an S20 step based on the position of the joints of the robot and the contour of the surface 21 an outwardly directed
  • F n ⁇ [(F ex * n) +
  • step S30 the robot controller filters the
  • the robot 10 with its end effector 1 1 follows the external force F ex independently of its direction or attempts to implement this in terms of control engineering.
  • a predetermined force f cmd can also be imposed on the surface in a manner opposite to the surface normal , for example by adding it to the filtered external force in step S50:

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé destiné à commander un robot (10) en fonction d'une force externe (Fex) appliquée au robot, selon lequel le robot est commandé (S50), dans un premier mode de fonctionnement, en fonction d'une surface (21), de manière à ce qu'il cherche à suivre davantage une composante tangentielle (Ft) de ladite force perpendiculaire à une normale (n) orientée vers l'extérieur sur la surface, dans un point de contact entre une référence (11) fixe pour le robot et la surface, qu'une composante normale (Fn) de la force en direction de ladite normale de surface.
PCT/EP2019/051001 2018-01-19 2019-01-16 Procédé et système de commande d'un robot Ceased WO2019141706A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19700912.9A EP3740353A1 (fr) 2018-01-19 2019-01-16 Procédé et système de commande d'un robot
CN201980020215.0A CN111867788B (zh) 2018-01-19 2019-01-16 控制机器人的方法和系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200864.7 2018-01-19
DE102018200864.7A DE102018200864B3 (de) 2018-01-19 2018-01-19 Verfahren und System zum Steuern eines Roboters

Publications (1)

Publication Number Publication Date
WO2019141706A1 true WO2019141706A1 (fr) 2019-07-25

Family

ID=65020029

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/051001 Ceased WO2019141706A1 (fr) 2018-01-19 2019-01-16 Procédé et système de commande d'un robot

Country Status (4)

Country Link
EP (1) EP3740353A1 (fr)
CN (1) CN111867788B (fr)
DE (1) DE102018200864B3 (fr)
WO (1) WO2019141706A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102019004478B3 (de) 2019-06-26 2020-10-29 Franka Emlka Gmbh System zum Vornehmen einer Eingabe an einem Robotermanipulator
DE102019118263B3 (de) * 2019-07-05 2020-08-20 Franka Emika Gmbh Ausgeben einer Güteinformation über eine Krafterfassung am Robotermanipulator
DE102019118261B3 (de) * 2019-07-05 2020-08-20 Franka Emika Gmbh Vorgeben und Anwenden eines gewünschten Kontaktmoments eines Robotermanipulators
CN112936278B (zh) * 2021-02-07 2022-07-29 深圳市优必选科技股份有限公司 机器人的人机协作控制方法、装置和机器人
DE102021204494A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters

Citations (2)

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EP0331265A2 (fr) * 1988-03-01 1989-09-06 Hitachi Construction Machinery Co., Ltd. Dispositif de commande de position/force pour machine à usiner avec des degrés de liberté multiples
US9308645B2 (en) 2012-03-21 2016-04-12 GM Global Technology Operations LLC Method of inferring intentions of an operator to move a robotic system

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DE102008062622B9 (de) 2008-12-17 2016-08-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators
CN101811301A (zh) * 2009-10-28 2010-08-25 北京航空航天大学 串并联机器人联合加工系统及其控制方法
CN101913149B (zh) * 2010-07-23 2012-04-04 山东电力研究院 嵌入式轻型机械臂控制器及其控制方法
DE102013218823A1 (de) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter
JP5893666B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
JP5893664B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
DE102014010638A1 (de) * 2014-07-17 2016-01-21 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Roboters
DE102015210218B4 (de) 2015-06-02 2024-11-07 Kuka Deutschland Gmbh Verfahren zum Betreiben eines Roboters, zugehöriger Roboter mit einer Vibrationsvorrichtung und Roboterarbeitsplatz
DE102015009151A1 (de) 2015-07-14 2017-01-19 Kuka Roboter Gmbh Ermitteln eines Eingabebefehls für einen Roboter, der durch manuelles Ausüben einer Kraft auf den Roboter eingegeben wird
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Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0331265A2 (fr) * 1988-03-01 1989-09-06 Hitachi Construction Machinery Co., Ltd. Dispositif de commande de position/force pour machine à usiner avec des degrés de liberté multiples
US9308645B2 (en) 2012-03-21 2016-04-12 GM Global Technology Operations LLC Method of inferring intentions of an operator to move a robotic system

Also Published As

Publication number Publication date
DE102018200864B3 (de) 2019-02-07
EP3740353A1 (fr) 2020-11-25
CN111867788B (zh) 2023-11-17
CN111867788A (zh) 2020-10-30

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